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Other Financial Statement Information - Sales Allowance (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Offsetting [Abstract]      
Beginning balance $ 4,862 $ 4,856 $ 4,651
Add: increase in sales allowances 7,217 7,998 9,976
Less: utilization of reserves (7,653) (7,992) (9,771)
Ending balance $ 4,426 $ 4,862 $ 4,856